Motorcycle Lean Angle Estimation via Mobile Device Sensor Fusion
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Solution Overview
Problem
Existing methods for estimating a motorcycle's lean angle require specialized devices or specific calibration and placement, limiting their usability and flexibility.
Innovation Solution
A system and method utilizing mobile device sensors like GPS, gyroscopes, and accelerometers to estimate lean angle without the need for calibration, by determining a base attitude and calculating the angle between current and base attitudes using gravity and driving information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If specialized devices are used to measure lean angle, then measurement precision is improved, but device complexity and ease of operation deteriorate
Solution Approach 1:
The patent applies universality by using a mobile device with multi-functional sensors (accelerometer, gyroscope, GPS) that can perform multiple functions including lean angle estimation, navigation, and motion tracking. This eliminates the need for specialized single-purpose lean angle measurement devices, reducing device complexity while maintaining measurement capability.
Solution Approach 2:
The patent uses sensors from a mobile device (which is a common consumer device) to copy the measurement function of specialized lean angle devices. By processing data from standard mobile device sensors, the system replicates the functionality of specialized measurement equipment without requiring dedicated hardware.
2Measurement precision
If specialized devices are used to measure lean angle, then measurement precision is improved, but ease of operation worsens
Solution Approach 1:
The system performs self-calibration by automatically determining the mounting orientation of the mobile device on the motorcycle and adjusting calculations accordingly. The base attitude estimation process automatically adapts to different mounting positions without requiring manual calibration by the user, making the system easy to operate while maintaining precision.
Solution Approach 2:
The patent dynamically adjusts calculation parameters based on the determined base attitude and mounting orientation. By changing the reference frame and calculation parameters according to the actual device orientation, the system maintains measurement accuracy across different mounting positions without requiring manual calibration.
3Ease of operation
If mobile device sensors are used without calibration, then ease of operation is improved, but measurement precision deteriorates
Solution Approach 1:
The system performs preliminary action by automatically determining the base attitude (upright position) of the motorcycle during normal operation. This preliminary determination of the reference orientation enables subsequent lean angle calculations to be accurate without requiring prior manual calibration, thus maintaining precision while improving ease of operation.
Solution Approach 2:
The system uses feedback from multiple sensors (accelerometer, gyroscope, GPS) to continuously monitor and adjust the estimated lean angle. By comparing data from multiple independent sensors and using the determined base attitude as feedback, the system maintains measurement precision without requiring external calibration references.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate estimation of lean angle and direction without specialized devices or calibration, providing a more versatile and user-friendly solution for monitoring motorcycle behavior.
Implementation Method 1
an accelerometer, configured to measure gravity information including acceleration components along x, y, and z axes of the device
Implementation Method 2
a gyroscope, configured to measure rotational motion of the device about the x, y, and z axes
Implementation Method 3
determine a lean angle of the motorcycle... by calculating an angle between the measured attitude and the base attitude
Data Source
AI summary
Example implementations described herein are directed to a system for lean angle estimation without requiring specialized calibration. In example implementations, the mobile device sensor data can be utilized without any additional specialized data or configuration to estimate the lean angle of a motorcycle. The lean angle is determined based on a determination of a base attitude of a mobile device and a measured attitude of the mobile device.